Lipoma on her foot - should I worry?

My dog has had a growth on her foot that has been continually growing since about 18 months ago. The vet says not to worry about it. It does not hurt/bother the dog, but I am afraid that something might catch it, cause it to bleed, and maybe cause her to bleed to death? Maybe I'm overreacting, but my vet says that if it becomes an impediment then we should consider removing it.

Did you have a dog with a similar condition? What was your preferred treatment?

Thanks in advance for your advice!